Synchronized tracking control of multiple Euler-Lagrange systems

In this paper, we propose a distributed robust control method for synchronized tracking of multiple Euler-Lagrange systems, where the time-varying reference trajectory is sent to only a subset of the agents. It is assumed that the agents can exchange information with their local neighbors on an undirectionally connected communication graph. The controllers are not only distributed on the network, but also decentralized for each generalized coordinate within each agent. Theoretical analysis is performed. And simulation results are provided to support the theoretical results.